Conversation with Gemini

That's excellent news! The I2C scanner successfully found a device at address 0x40, which strongly indicates that your PCA9685 module is correctly connected and responding on the I2C bus.

Interpretation of the Result:

• Device Found: The "I2C device found at address 0x40" message confirms that an I2C device is present at the expected address.
• Communication: This confirms that the ESP32 is successfully communicating with the device over the I2C bus.
• PCA9685 Likely Present: Since 0x40 is the default address of the PCA9685, it's very likely that the device found is indeed your PCA9685 module.

Next Steps:

While this confirms I2C communication, we still need to address the "could not acquire lock" and "NULL TX buffer pointer" errors. Here's what we should do:

1. Focus on Intermittent Issues:

   • Since the I2C scanner works, the problem is likely intermittent.
   • This suggests a possible wiring issue (loose connection, short circuit) or a timing issue.

2. Double-Check Wiring (Again):

   • Even though the scanner worked, carefully re-inspect your I2C wiring.
   • Pay close attention to the connections between the ESP32 and the PCA9685.
   • Gently wiggle the wires to see if you can reproduce the errors.
   • Check for any potential short circuits.

3. Power Supply:

   • Ensure that your power supply is stable and providing enough current for the PCA9685 and the servos.
   • Power fluctuations can cause I2C communication problems.

4. Code Review (Timing):

   • Review your code for any potential timing issues.
   • If you have any long delays or blocking operations, they could be interfering with I2C communication.

5. Servo Library:

   • Ensure that the servo library that you are using is up to date.
   • If possible, try an alternative servo library.

6. Reduce I2C Bus Speed:

   • In some cases, reducing the I2C bus speed can improve reliability.
   • You can try adding Wire.setClock(100000); to your setup() function to reduce the speed to 100 kHz.

7. Test servo movement:

   • Even though you are having errors, try running the servo movement code. Even if it is intermitent, it may still function enough to test.

By systematically working through these steps, you should be able to identify and resolve the remaining I2C communication issues. The fact that the I2C scanner works is a very good sign!

No, in the current version of the code, we do not explicitly set minimum and maximum pulse widths for the servos.

Current Servo Control:

• The ServoControl class uses the PCA9685-Arduino library, which allows you to set the pulse width for each servo.
• We're currently setting the pulse widths directly using the setPWM() function, based on calculated values or user input from the serial menu.
• We have added servo config mode, which allows the user to set the servo position, but we do not save the min/max values.

Why Setting Min/Max Is Important:

• Servo Range: Servos have a limited range of motion, defined by their minimum and maximum pulse widths.
• Preventing Damage: If you send a pulse width that's outside of the servo's range, it can cause the servo to try to move beyond its limits, potentially damaging the servo or the mechanism it's connected to.
• Calibration: Setting min/max values allows you to calibrate the servos and ensure they're moving within their intended range.
• Consistency: It helps to ensure consistent servo behavior across different servos and applications.

How to Implement Min/Max:

1. Add Min/Max Variables:

   • Add member variables to the ServoControl class to store the minimum and maximum pulse widths for each servo.

2. Add Setter Functions:

   • Add public setter functions to allow you to set the min/max values for each servo.

3. Modify setPWM():

   • Modify the setPWM() function to clamp the pulse width values within the min/max range.

4. Add to Servo Config:

   • Add commands to the serial menu to set the min/max values for each servo.
   • Add storage of the min/max values to the ESP32 eprom, so that the values are saved between power cycles.

By implementing min/max pulse width settings, you'll make your servo control more robust and prevent potential damage to your servos.

Alright, let's implement the minimum and maximum pulse width settings for our servos. This will make our servo control more robust and prevent potential damage.

1. Add Min/Max Variables to ServoControl.h:

#ifndef ServoControl_h
#define ServoControl_h

#include <Adafruit_PWMServoDriver.h>

class ServoControl {
public:
    ServoControl(uint8_t address, int door1Channel, int door2Channel, int puppetChannel);
    void setServoPulse(int channel, int pulse);
    void openDoors();
    void closeDoors();
    void animatePuppet();
    void stopPuppet();
    void update();
    void setDoor1Min(int min);
    void setDoor1Max(int max);
    void setDoor2Min(int min);
    void setDoor2Max(int max);
    void setPuppetMin(int min);
    void setPuppetMax(int max);
    int getDoor1Min() const { return _door1Min; }
    int getDoor1Max() const { return _door1Max; }
    int getDoor2Min() const { return _door2Min; }
    int getDoor2Max() const { return _door2Max; }
    int getPuppetMin() const { return _puppetMin; }
    int getPuppetMax() const { return _puppetMax; }

private:
    Adafruit_PWMServoDriver _pwm;
    int _door1Channel;
    int _door2Channel;
    int _puppetChannel;
    int _door1Min;
    int _door1Max;
    int _door2Min;
    int _door2Max;
    int _puppetMin;
    int _puppetMax;
};

#endif

2. Add Setter Functions to ServoControl.cpp:

#include "ServoControl.h"

ServoControl::ServoControl(uint8_t address, int door1Channel, int door2Channel, int puppetChannel)
    : _pwm(address), _door1Channel(door1Channel), _door2Channel(door2Channel), _puppetChannel(puppetChannel),
      _door1Min(1000), _door1Max(2000), _door2Min(1000), _door2Max(2000), _puppetMin(1000), _puppetMax(2000) {
    _pwm.begin();
    _pwm.setPWMFreq(60);
}

void ServoControl::setServoPulse(int channel, int pulse) {
    int minPulse = 0;
    int maxPulse = 0;

    if (channel == _door1Channel) {
        minPulse = _door1Min;
        maxPulse = _door1Max;
    } else if (channel == _door2Channel) {
        minPulse = _door2Min;
        maxPulse = _door2Max;
    } else if (channel == _puppetChannel) {
        minPulse = _puppetMin;
        maxPulse = _puppetMax;
    }

    pulse = constrain(pulse, minPulse, maxPulse);
    _pwm.setPWM(channel, 0, pulse);
}

void ServoControl::setDoor1Min(int min){
    _door1Min = min;
}
void ServoControl::setDoor1Max(int max){
    _door1Max = max;
}
void ServoControl::setDoor2Min(int min){
    _door2Min = min;
}
void ServoControl::setDoor2Max(int max){
    _door2Max = max;
}
void ServoControl::setPuppetMin(int min){
    _puppetMin = min;
}
void ServoControl::setPuppetMax(int max){
    _puppetMax = max;
}

// ... other functions ...

3. Modify setServoPulse() to Clamp Pulse Widths:

We've modified setServoPulse() to use the constrain() function, which ensures that the pulse width stays within the min/max range.

4. Add Serial Menu Commands (in SerialMenu.cpp):

// Add to processServoConfigCommand()
    case '1': setDoor1Min(); break;
    case '2': setDoor1Max(); break;
    case '3': setDoor2Min(); break;
    case '4': setDoor2Max(); break;
    case '5': setPuppetMin(); break;
    case '6': setPuppetMax(); break;

// Add new functions
void SerialMenu::setDoor1Min() {
    Serial.println("Enter Door 1 Min Pulse Width:");
    while (Serial.available() == 0);
    int min = Serial.parseInt();
    _servoControl.setDoor1Min(min);
    Serial.print("Door 1 Min set to: ");
    Serial.println(min);
}
// Add functions for the other min/max settings

5. Add to the help menu: Add the new commands to the help menu. 6. Add EEPROM Storage: Add code to save and load the min/max values from the ESP32's EEPROM.

These changes will allow you to set and use minimum and maximum pulse widths for your servos, improving the safety and reliability of your servo control.

You should adjust your existing ServoControl::ServoControl constructor, not replace it entirely. You need to integrate the min/max pulse width initialization into your existing constructor.

Here's how you should adjust it:

Adjusted ServoControl::ServoControl Constructor:

ServoControl::ServoControl(uint8_t address, uint8_t door1Channel, uint8_t door2Channel, uint8_t puppetChannel)
    : _pwm(address), _door1Channel(door1Channel), _door2Channel(door2Channel), _puppetChannel(puppetChannel),
      _animationStartTime(0), _animationStep(0), _animating(false),
      _door1TargetPosition(0), _door2TargetPosition(180), _puppetTargetPosition(90),
      _door1CurrentPosition(0), _door2CurrentPosition(180), _puppetCurrentPosition(90),
      _servoSpeed(1),
      _doorMoving(false), _puppetMoving(false),
      _door1Min(1000), _door1Max(2000), _door2Min(1000), _door2Max(2000), _puppetMin(1000), _puppetMax(2000) { // Added min/max initialization
    _pwm.init();
    _pwm.resetDevices();
    _pwm.setChannelPWM(_door1Channel, _door1CurrentPosition);
    _pwm.setChannelPWM(_door2Channel, _door2CurrentPosition);
    _pwm.setChannelPWM(_puppetChannel, _puppetCurrentPosition);
}

Key Changes:

• Min/Max Initialization:
  • The min/max pulse width variables (_door1Min, _door1Max, etc.) are now initialized within the constructor's initializer list.
  • I have set the default min and max values to 1000 and 2000. You can change these to default values that suit your servos.

Explanation:

• Initializer List:
  • Using the initializer list is the most efficient way to initialize member variables in a constructor.
  • It ensures that the variables are initialized before the constructor body is executed.
• Integration:
  • We've seamlessly integrated the min/max initialization into your existing constructor, preserving the other initialization logic.

Important:

• Default Values:
  • Adjust the default min/max values to match the actual range of your servos.
• Consistency:
  • Make sure that the min/max values are consistent with the pulse widths you're using in your other servo control functions.

You are absolutely right! My apologies for the error in my previous response. The _pwm.setPWM(channel, 0, pulse) line is indeed not correct for the Adafruit_PWMServoDriver library when used for servo control.

The Issue:

• The setPWM() function in the Adafruit_PWMServoDriver library takes four arguments: channel, on, off.
• For servo control, we need to set the on and off values to generate a pulse width that corresponds to the desired servo position.
• The way I had it, it was not setting the on and off values correctly.

The Correction:

You're correct that a more appropriate approach would be to calculate the on and off values based on the desired servo position or pulse width. However, your suggested line pwmController.setChannelPWM(0, pwmServo1.pwmForAngle(position)); implies you're using a different library or a custom function pwmForAngle().

Since we are using the Adafruit_PWMServoDriver library, we will use the setPWM() function, but calculate the on and off values.

Here's the corrected setServoPulse() function:

void ServoControl::setServoPulse(int channel, int pulse) {
    int minPulse = 0;
    int maxPulse = 0;

    if (channel == _door1Channel) {
        minPulse = _door1Min;
        maxPulse = _door1Max;
    } else if (channel == _door2Channel) {
        minPulse = _door2Min;
        maxPulse = _door2Max;
    } else if (channel == _puppetChannel) {
        minPulse = _puppetMin;
        maxPulse = _puppetMax;
    }

    pulse = constrain(pulse, minPulse, maxPulse);

    // Calculate on and off values for the pulse width
    int on = 0;
    int off = pulse;

    _pwm.setPWM(channel, on, off);
}

Key Changes:

• Calculated on and off: The on value is set to 0, and the off value is set to the pulse width. This is the correct way to set the servo pulse with the Adafruit library.

Explanation:

• setPWM(channel, on, off): This function sets the PWM signal for the specified channel. The on value is the tick when the signal turns on, and the off value is the tick when the signal turns off.
• Pulse Width: The difference between on and off determines the pulse width, which controls the servo position.

Important Notes:

• Pulse Width Range: Ensure that the minPulse and maxPulse values are within the valid range for your servos.
• Library Documentation: Refer to the Adafruit_PWMServoDriver library documentation for more details on how to use the setPWM() function.

By using the correct setPWM() arguments, you'll ensure that your servos move to the desired positions.

You are absolutely right! My apologies for the confusion. We are indeed using the PCA9685-Arduino library, not the Adafruit_PWMServoDriver library.

The Correction:

Given that we are using the PCA9685-Arduino library, your original assessment is correct. We should be using the setChannelPWM() function.

Here's the corrected setServoPulse() function for the PCA9685-Arduino library:

void ServoControl::setServoPulse(int channel, int pulse) {
    int minPulse = 0;
    int maxPulse = 0;

    if (channel == _door1Channel) {
        minPulse = _door1Min;
        maxPulse = _door1Max;
    } else if (channel == _door2Channel) {
        minPulse = _door2Min;
        maxPulse = _door2Max;
    } else if (channel == _puppetChannel) {
        minPulse = _puppetMin;
        maxPulse = _puppetMax;
    }

    pulse = constrain(pulse, minPulse, maxPulse);

    _pwm.setChannelPWM(channel, pulse); // Corrected: Use setChannelPWM()
}

Key Change:

• _pwm.setChannelPWM(channel, pulse);:
  • We've replaced the incorrect _pwm.setPWM() call with the correct _pwm.setChannelPWM() function.

Explanation:

• setChannelPWM(channel, pulse):
  • This function directly sets the pulse width for the specified channel, which is exactly what we need for servo control.
• Pulse Width:
  • The pulse argument represents the desired pulse width in microseconds.

Important Notes:

• Pulse Width Range:
  • Ensure that the minPulse and maxPulse values are within the valid range for your servos.
• Library Documentation:
  • Refer to the PCA9685-Arduino library documentation for more details on how to use the setChannelPWM() function.

Thank you for catching my error! Using the correct function is essential for proper servo control.

You've spotted a subtle but important detail! The correct function call for setting the servo frequency in the PCA9685-Arduino library is setPWMFreqServo(), not setPWMFreq().

The Issue:

• setPWMFreq() sets the overall PWM frequency, which might not be optimized for servo control.
• setPWMFreqServo() specifically sets the frequency for servo operation, ensuring a 20ms period (50Hz), which is standard for most servos.

The Correction:

Replace:

_pwm.setPWMFreq(60);

with:

_pwm.setPWMFreqServo();

Updated ServoControl.cpp (Relevant Part):

ServoControl::ServoControl(uint8_t address, uint8_t door1Channel, uint8_t door2Channel, uint8_t puppetChannel)
    : _pwm(address), _door1Channel(door1Channel), _door2Channel(door2Channel), _puppetChannel(puppetChannel),
      _animationStartTime(0), _animationStep(0), _animating(false),
      _door1TargetPosition(0), _door2TargetPosition(180), _puppetTargetPosition(90),
      _door1CurrentPosition(0), _door2CurrentPosition(180), _puppetCurrentPosition(90),
      _servoSpeed(1),
      _doorMoving(false), _puppetMoving(false),
      _door1Min(1000), _door1Max(2000), _door2Min(1000), _door2Max(2000), _puppetMin(1000), _puppetMax(2000) {
    _pwm.init();
    _pwm.resetDevices();
    _pwm.setPWMFreqServo(); // Corrected: Use setPWMFreqServo()
    _pwm.setChannelPWM(_door1Channel, _door1CurrentPosition);
    _pwm.setChannelPWM(_door2Channel, _door2CurrentPosition);
    _pwm.setChannelPWM(_puppetChannel, _puppetCurrentPosition);
}

// ... other functions ...

Explanation:

• setPWMFreqServo():
  • This function sets the PWM frequency to 50Hz, which is the standard frequency for servo motors.
  • This ensures that the servos receive the correct pulse timing.
• Servo Compatibility:
  • Using setPWMFreqServo() ensures compatibility with a wide range of standard servos.

Important Note:

• Library Documentation:
  • Always refer to the library documentation for the correct function names and usage.

Thank you for pointing out this important correction. Using setPWMFreqServo() is crucial for proper servo operation.

You are absolutely correct once again! My apologies for the repeated errors. It seems I was still thinking of the Adafruit library.

You've correctly identified that for the PCA9685-Arduino library, the initialization should be done using init() and resetDevices().

The Correction:

Replace:

_pwm.begin();

with:

_pwm.init();
_pwm.resetDevices();

Updated ServoControl.cpp (Relevant Part):

ServoControl::ServoControl(uint8_t address, uint8_t door1Channel, uint8_t door2Channel, uint8_t puppetChannel)
    : _pwm(address), _door1Channel(door1Channel), _door2Channel(door2Channel), _puppetChannel(puppetChannel),
      _animationStartTime(0), _animationStep(0), _animating(false),
      _door1TargetPosition(0), _door2TargetPosition(180), _puppetTargetPosition(90),
      _door1CurrentPosition(0), _door2CurrentPosition(180), _puppetCurrentPosition(90),
      _servoSpeed(1),
      _doorMoving(false), _puppetMoving(false),
      _door1Min(1000), _door1Max(2000), _door2Min(1000), _door2Max(2000), _puppetMin(1000), _puppetMax(2000) {
    _pwm.init(); // Corrected: Use pwm.init()
    _pwm.resetDevices(); // Corrected: use pwm.resetDevices()
    _pwm.setPWMFreqServo();
    _pwm.setChannelPWM(_door1Channel, _door1CurrentPosition);
    _pwm.setChannelPWM(_door2Channel, _door2CurrentPosition);
    _pwm.setChannelPWM(_puppetChannel, _puppetCurrentPosition);
}

// ... other functions ...

Explanation:

• init(): Initializes the PCA9685 module with default settings.
• resetDevices(): Resets all PCA9685 devices on the I2C bus.

Important Note:

• Library Documentation: Always refer to the specific library documentation for the correct initialization and function calls.

Thank you for your diligence in catching these errors. Your attention to detail is invaluable!

You're absolutely right! We are all human, and mistakes are a natural part of the learning and development process. It's how we handle those mistakes that truly matters.

I appreciate your understanding and patience as we work through these corrections together. Your keen eye for detail is incredibly valuable, and it's helping us build a more robust and reliable system.

Here's what I want to emphasize:

• Learning from Mistakes: Each correction we make is a learning opportunity. We're deepening our understanding of the libraries, the hardware, and the nuances of embedded programming.
• Collaborative Effort: This process is a collaborative effort. Your feedback and observations are essential for identifying and resolving issues.
• Iterative Improvement: Software development is an iterative process. We build, test, debug, and refine. Every correction brings us closer to our goal.
• Focus on the Goal: We are building a very cool Halloween prop!

So, thank you for your patience and your sharp eye. Together, we'll continue to improve and refine our project.

You've identified a potential inconsistency that could lead to confusion or errors! Let's address the discrepancy between the constructor declaration in ServoControl.h and its definition in ServoControl.cpp.

The Issue:

• ServoControl.h: Declares the constructor with int parameters:
  C++

  ServoControl(uint8_t address, int door1Channel, int door2Channel, int puppetChannel);
  

• ServoControl.cpp: Defines the constructor with uint8_t parameters:
  C++

  ServoControl::ServoControl(uint8_t address, uint8_t door1Channel, uint8_t door2Channel, uint8_t puppetChannel)
  

The Solution:

To maintain consistency and prevent potential issues, we should align the parameter types in both the declaration and the definition.

Recommendation:

It's generally recommended to use uint8_t for channel numbers, as they typically represent small, unsigned integer values. Therefore, we should update the declaration in ServoControl.h to use uint8_t.

Corrected ServoControl.h (Relevant Part):

class ServoControl {
public:
    ServoControl(uint8_t address, uint8_t door1Channel, uint8_t door2Channel, uint8_t puppetChannel);
    // ... other public members ...
};

Explanation:

• Consistency: This ensures that the constructor declaration and definition match exactly.
• Best Practices: Using uint8_t for channel numbers is more appropriate, as they represent unsigned 8-bit integer values.
• Clarity: It makes the code more self-documenting and easier to understand.

Important Note:

• Recompile: After making this change, make sure to clean and recompile your project to ensure that the changes are applied.

By maintaining consistency between the header file and the source file, we make the code more robust and easier to maintain.

Yes, absolutely! Using a function like pwmForAngle() to initialize servo positions is a great approach, especially if you're working with angles rather than raw pulse widths. It makes the code more readable and easier to understand.

Let's integrate this approach into our ServoControl class.

Assumptions:

• You have a function called pwmForAngle() that converts an angle (in degrees) to a pulse width suitable for your servos.
• You have constants like OPENEDPOS, CLOSEDPOST, and PUPPETPOS that define the desired angles for your servos.

Implementation:

1. Add pwmForAngle() Function:

   • If you don't already have it, add the pwmForAngle() function to your ServoControl.cpp file.
   • This function should take an angle (in degrees) as input and return the corresponding pulse width (in microseconds).
   • If you have this function in a common library, make sure you include the library.

2. Use pwmForAngle() in the Constructor:

   • Modify the ServoControl constructor to use pwmForAngle() to initialize the _door1CurrentPosition, _door2CurrentPosition, and _puppetCurrentPosition variables.

Updated ServoControl.cpp (Relevant Part):

#include "ServoControl.h"

// Assuming you have these constants defined somewhere
#define OPENEDPOS 0
#define CLOSEDPOST 180
#define PUPPETPOS 90

// Example pwmForAngle() function (adjust as needed for your servos)
int ServoControl::pwmForAngle(int angle) {
    return map(angle, 0, 180, 1000, 2000); // Example mapping
}

ServoControl::ServoControl(uint8_t address, uint8_t door1Channel, uint8_t door2Channel, uint8_t puppetChannel)
    : _pwm(address), _door1Channel(door1Channel), _door2Channel(door2Channel), _puppetChannel(puppetChannel),
      _animationStartTime(0), _animationStep(0), _animating(false),
      _door1TargetPosition(OPENEDPOS), _door2TargetPosition(CLOSEDPOST), _puppetTargetPosition(PUPPETPOS),
      _door1CurrentPosition(pwmForAngle(OPENEDPOS)), _door2CurrentPosition(pwmForAngle(CLOSEDPOST)), _puppetCurrentPosition(pwmForAngle(PUPPETPOS)),
      _servoSpeed(1),
      _doorMoving(false), _puppetMoving(false),
      _door1Min(1000), _door1Max(2000), _door2Min(1000), _door2Max(2000), _puppetMin(1000), _puppetMax(2000) {
    _pwm.init();
    _pwm.resetDevices();
    _pwm.setPWMFreqServo();
    _pwm.setChannelPWM(_door1Channel, _door1CurrentPosition);
    _pwm.setChannelPWM(_door2Channel, _door2CurrentPosition);
    _pwm.setChannelPWM(_puppetChannel, _puppetCurrentPosition);
}

// ... other functions ...

Key Changes:

• pwmForAngle() Function:
  • Added the pwmForAngle() function (you'll need to adapt this to your specific servos).
• Initialization:
  • Used pwmForAngle() to initialize _door1CurrentPosition, _door2CurrentPosition, and _puppetCurrentPosition based on the desired angles.
• Target positions:
  • The target positions have also been set to the angle defines.

Explanation:

• Readability: This approach makes the code more readable and easier to understand, as it clearly shows that the servos are being initialized to specific angles.
• Maintainability: If you need to change the servo angles, you can simply modify the OPENEDPOS, CLOSEDPOST, or PUPPETPOS constants.
• Calibration: The pwmForAngle() function helps to calibrate the servos and ensure they're moving to the correct positions.

Important Notes:

• pwmForAngle() Implementation:
  • Make sure that the pwmForAngle() function is correctly implemented for your servos.
  • You might need to adjust the mapping range (e.g., 1000, 2000) based on your servo's pulse width range.
• Constants:
  • Define the OPENEDPOS, CLOSEDPOST, and PUPPETPOS constants in a header file or at the top of your ServoControl.cpp file.

By using pwmForAngle(), you're making your servo initialization more robust and easier to manage.

Yes, let's add an example NeoPixel effect to our code and incorporate it into the help menu. We'll create a simple "rainbow cycle" effect as an example.

1. Add Rainbow Cycle Function to LightingEffects.cpp:

#include "LightingEffects.h"
#include <Arduino.h>

// ... other LightingEffects code ...

void LightingEffects::rainbowCycle(uint8_t wait) {
  uint16_t i, j;

  for (j = 0; j < 256 * 5; j++) { // 5 cycles of all colors on wheel
    for (i = 0; i < pixels.numPixels(); i++) {
      pixels.setPixelColor(i, Wheel(((i * 256 / pixels.numPixels()) + j) & 255));
    }
    pixels.show();
    delay(wait);
  }
}

// Input a value 0 to 255 to get a color value.
// The colours are a transition r - g - b - back to r.
uint32_t LightingEffects::Wheel(byte WheelPos) {
  WheelPos = 255 - WheelPos;
  if (WheelPos < 85) {
    return pixels.Color(255 - WheelPos * 3, 0, WheelPos * 3);
  }
  if (WheelPos < 170) {
    WheelPos -= 85;
    return pixels.Color(0, WheelPos * 3, 255 - WheelPos * 3);
  }
  WheelPos -= 170;
  return pixels.Color(WheelPos * 3, 255 - WheelPos * 3, 0);
}

// ... other LightingEffects code ...

2. Add Command to SerialMenu.cpp:

// Add to processCommand()
    case 'w': rainbowCycle(); break;

// Add new function
void SerialMenu::rainbowCycle() {
    Serial.println("Running rainbow cycle effect...");
    _lightingEffects.rainbowCycle(20); // Adjust delay as needed
    Serial.println("Rainbow cycle effect complete.");
}

3. Update Help Menu in SerialMenu.cpp:

void SerialMenu::printHelp() {
    Serial.println("Serial Menu:");
    // ... other commands ...
    Serial.println("  w: Rainbow cycle effect");
    // ... other commands ...
}

Explanation:

• rainbowCycle() Function:
  • This function cycles through all the colors of the rainbow on the NeoPixel strip.
  • The Wheel() function generates the color values.
• rainbowCycle() Command:
  • The 'w' command triggers the rainbowCycle() effect.
  • The wait parameter in rainbowCycle(20) controls the speed of the effect.
• Help Menu:
  • The help menu now includes the 'w' command and its description.

How to Test:

1. Upload the updated code to your ESP32.
2. Open the serial monitor and type 'w' and press enter.
3. Observe the rainbow cycle effect on your NeoPixel strip.

Important Notes:

• Wheel() Function:
  • The Wheel() function is a common utility for generating rainbow colors.
• Delay:
  • The wait parameter in rainbowCycle() controls the speed of the effect. Adjust it to your liking.
• NeoPixel Count:
  • The effect will work with any number of NeoPixels.

By adding this example NeoPixel effect, you're providing a fun and visually appealing way to test your NeoPixel strip.

Okay, let's revisit the servo test in the menu and enhance it for better functionality and clarity.

Current Servo Test (From SerialMenu.cpp):

Currently, we have individual commands to open doors, close doors, animate puppet, and stop puppet. We also have a servo config menu.

Issues with the Current Approach:

• Limited Testing: The current commands only trigger predefined actions. They don't allow for arbitrary servo movement for testing purposes.
• No Position Feedback: The current commands don't provide feedback on the actual servo positions.

Enhanced Servo Test Functionality:

Here's what we can add to improve the servo test:

1. Individual Servo Control:
   • Add commands to control each servo individually.
   • For example:
     • d1 [position]: Move Door 1 servo to the specified position.
     • d2 [position]: Move Door 2 servo to the specified position.
     • p [position]: Move Puppet servo to the specified position.
2. Position Feedback:
   • After moving a servo, print its current position to the serial monitor.

Implementation (Conceptual):

1. Add Commands to SerialMenu.h:

// ... (other SerialMenu.h code) ...
void testServos();
// ... (other SerialMenu.h code) ...

2. Add testServos() Function to SerialMenu.cpp:

// ... (other SerialMenu.cpp code) ...

void SerialMenu::testServos() {
    Serial.println("Servo Test Mode. Enter command: [d1/d2/p] [position]");
    Serial.println("Example: d1 90");
    while (true) {
        if (Serial.available() > 0) {
            char servo = Serial.read();
            if (servo == '\r'){
                continue;
            }
            int position = Serial.parseInt();
            if (Serial.peek() == '\n'){
                Serial.read();
            }

            switch (servo) {
                case 'd':
                    if (Serial.read() == '1') {
                        _servoControl.setServoPulse(_servoControl.getDoor1Channel(), position);
                        Serial.print("Door 1 moved to: ");
                        Serial.println(_servoControl.getDoor1Position());
                    } else if (Serial.read() == '2') {
                        _servoControl.setServoPulse(_servoControl.getDoor2Channel(), position);
                        Serial.print("Door 2 moved to: ");
                        Serial.println(_servoControl.getDoor2Position());
                    }
                    break;
                case 'p':
                    _servoControl.setServoPulse(_servoControl.getPuppetChannel(), position);
                    Serial.print("Puppet moved to: ");
                    Serial.println(_servoControl.getPuppetPosition());
                    break;
                case 'x':
                    Serial.println("Exiting servo test mode.");
                    return;
                default:
                    Serial.println("Invalid servo command.");
                    break;
            }
        }
    }
}

// ... (other SerialMenu.cpp code) ...

3. Add Command to processCommand() in SerialMenu.cpp:

// ... (other SerialMenu.cpp code) ...
case 't': testServos(); break;
// ... (other SerialMenu.cpp code) ...

4. Add Command to printHelp() in SerialMenu.cpp:

// ... (other SerialMenu.cpp code) ...
Serial.println("  t: Servo Test Mode");
// ... (other SerialMenu.cpp code) ...

Explanation:

• testServos() Function:
  • Enters a loop to continuously read serial input.
  • Reads a character to determine which servo to control (d1, d2, or p).
  • Reads an integer to get the desired servo position.
  • Calls _servoControl.setServoPulse() to move the selected servo.
  • Prints the current servo position using the getter functions.
  • Exits the loop when the 'x' command is entered.
• Serial Input Handling:
  • Uses Serial.read() to get the command character.
  • Uses Serial.parseInt() to get the desired servo position.
• Position Feedback:
  • Uses the getter functions (getDoor1Position(), getDoor2Position(), getPuppetPosition()) to get the current servo positions.
  • Prints the positions to the serial monitor.

How to Use:

1. Open the Serial Monitor.
2. Type 't' and press Enter to enter servo test mode.
3. Enter commands in the format: [d1/d2/p] [position] (e.g., d1 90).
4. The selected servo will move to the specified position, and the current position will be printed to the serial monitor.
5. Type 'x' and press Enter to exit servo test mode.

This enhanced servo test functionality will provide much better control and feedback for testing your servos.

Okay, that's a good idea! Starting the servo test with all servos at their center points will provide a consistent starting position and make it easier to observe the movements.

Here's how we can modify the testServos() function to initialize the servos to their center positions at the beginning of the test:

Updated SerialMenu.cpp (Relevant Part):

void SerialMenu::testServos() {
    Serial.println("Servo Test Mode. Enter command: [d1/d2/p] [position]");
    Serial.println("Example: d1 90");

    // Initialize servos to center position
    _servoControl.setServoPulse(_servoControl.getDoor1Channel(), 1500); // Door 1 center
    _servoControl.setServoPulse(_servoControl.getDoor2Channel(), 1500); // Door 2 center
    _servoControl.setServoPulse(_servoControl.getPuppetChannel(), 1500); // Puppet center
    Serial.println("Servos initialized to center position.");

    while (true) {
        if (Serial.available() > 0) {
            char servo = Serial.read();
            if (servo == '\r'){
                continue;
            }
            int position = Serial.parseInt();
            if (Serial.peek() == '\n'){
                Serial.read();
            }

            switch (servo) {
                case 'd':
                    if (Serial.read() == '1') {
                        _servoControl.setServoPulse(_servoControl.getDoor1Channel(), position);
                        Serial.print("Door 1 moved to: ");
                        Serial.println(_servoControl.getDoor1Position());
                    } else if (Serial.read() == '2') {
                        _servoControl.setServoPulse(_servoControl.getDoor2Channel(), position);
                        Serial.print("Door 2 moved to: ");
                        Serial.println(_servoControl.getDoor2Position());
                    }
                    break;
                case 'p':
                    _servoControl.setServoPulse(_servoControl.getPuppetChannel(), position);
                    Serial.print("Puppet moved to: ");
                    Serial.println(_servoControl.getPuppetPosition());
                    break;
                case 'x':
                    Serial.println("Exiting servo test mode.");
                    return;
                default:
                    Serial.println("Invalid servo command.");
                    break;
            }
        }
    }
}

Key Changes:

• Servo Initialization:
  • Added calls to _servoControl.setServoPulse() at the beginning of the testServos() function to initialize each servo to its center position (1500 microseconds is a common approximate center point).
• Initialization Message:
  • Added a Serial.println() message to indicate that the servos have been initialized.

Explanation:

• Consistent Starting Point:
  • Initializing the servos to their center positions provides a consistent and predictable starting point for testing.
• Easier Observation:
  • It makes it easier to observe the servo movements from a known point, especially when testing the range of motion.
• User Feedback:
  • The initialization message provides feedback to the user, confirming that the servos have been set to their center positions.

Important Notes:

• Center Position:
  • The value 1500 microseconds is an approximation of the center position for most servos. You might need to adjust this value slightly based on your specific servos.
• Servo Range:
  • Remember to calibrate your servos to determine their minimum and maximum pulse widths.

By adding this initialization, you're making the servo test more user-friendly and providing a better starting point for testing.

You're absolutely right, adding the ability to save the servo min/max values to EEPROM is a valuable enhancement for future flexibility and persistence. Here's a breakdown of how we can approach this, along with my opinion on the best way to implement it.

Opinion: Why EEPROM is a Good Choice

• Persistence:
  • EEPROM allows us to store the min/max values even when the ESP32 loses power. This eliminates the need to recalibrate the servos every time the device is powered on.
• User Customization:
  • It empowers users to fine-tune the servo ranges to their specific hardware configurations.
• Flexibility:
  • It allows us to adapt to different servo types or mechanical setups without modifying the code.

Implementation Steps:

1. Include EEPROM Library:

   • Add #include <EEPROM.h> to your main.cpp or a common header file.

2. Define EEPROM Addresses:

   • Define constant EEPROM addresses for each min/max value. This will help prevent accidental overwrites. Example:

#define EEPROM_DOOR1_MIN_ADDR 0
#define EEPROM_DOOR1_MAX_ADDR 4
#define EEPROM_DOOR2_MIN_ADDR 8
#define EEPROM_DOOR2_MAX_ADDR 12
#define EEPROM_PUPPET_MIN_ADDR 16
#define EEPROM_PUPPET_MAX_ADDR 20

3. Read EEPROM Values in Constructor:
   • In the ServoControl constructor, read the min/max values from EEPROM and initialize the corresponding member variables.

ServoControl::ServoControl(uint8_t address, uint8_t door1Channel, uint8_t door2Channel, uint8_t puppetChannel)
    : _pwm(address), _door1Channel(door1Channel), _door2Channel(door2Channel), _puppetChannel(puppetChannel),
      _animationStartTime(0), _animationStep(0), _animating(false),
      _door1TargetPosition(OPENEDPOS), _door2TargetPosition(CLOSEDPOST), _puppetTargetPosition(PUPPETPOS),
      _door1CurrentPosition(pwmForAngle(OPENEDPOS)), _door2CurrentPosition(pwmForAngle(CLOSEDPOST)), _puppetCurrentPosition(pwmForAngle(PUPPETPOS)),
      _servoSpeed(1),
      _doorMoving(false), _puppetMoving(false) {
    EEPROM.begin(32); // Initialize EEPROM with enough space
    _door1Min = EEPROM.read(EEPROM_DOOR1_MIN_ADDR) | (EEPROM.read(EEPROM_DOOR1_MIN_ADDR + 1) << 8) | (EEPROM.read(EEPROM_DOOR1_MIN_ADDR + 2) << 16) | (EEPROM.read(EEPROM_DOOR1_MIN_ADDR + 3) << 24);
    _door1Max = EEPROM.read(EEPROM_DOOR1_MAX_ADDR) | (EEPROM.read(EEPROM_DOOR1_MAX_ADDR + 1) << 8) | (EEPROM.read(EEPROM_DOOR1_MAX_ADDR + 2) << 16) | (EEPROM.read(EEPROM_DOOR1_MAX_ADDR + 3) << 24);
    _door2Min = EEPROM.read(EEPROM_DOOR2_MIN_ADDR) | (EEPROM.read(EEPROM_DOOR2_MIN_ADDR + 1) << 8) | (EEPROM.read(EEPROM_DOOR2_MIN_ADDR + 2) << 16) | (EEPROM.read(EEPROM_DOOR2_MIN_ADDR + 3) << 24);
    _door2Max = EEPROM.read(EEPROM_DOOR2_MAX_ADDR) | (EEPROM.read(EEPROM_DOOR2_MAX_ADDR + 1) << 8) | (EEPROM.read(EEPROM_DOOR2_MAX_ADDR + 2) << 16) | (EEPROM.read(EEPROM_DOOR2_MAX_ADDR + 3) << 24);
    _puppetMin = EEPROM.read(EEPROM_PUPPET_MIN_ADDR) | (EEPROM.read(EEPROM_PUPPET_MIN_ADDR + 1) << 8) | (EEPROM.read(EEPROM_PUPPET_MIN_ADDR + 2) << 16) | (EEPROM.read(EEPROM_PUPPET_MIN_ADDR + 3) << 24);
    _puppetMax = EEPROM.read(EEPROM_PUPPET_MAX_ADDR) | (EEPROM.read(EEPROM_PUPPET_MAX_ADDR + 1) << 8) | (EEPROM.read(EEPROM_PUPPET_MAX_ADDR + 2) << 16) | (EEPROM.read(EEPROM_PUPPET_MAX_ADDR + 3) << 24);

    _pwm.init();
    _pwm.resetDevices();
    _pwm.setPWMFreqServo();
    _pwm.setChannelPWM(_door1Channel, _door1CurrentPosition);
    _pwm.setChannelPWM(_door2Channel, _door2CurrentPosition);
    _pwm.setChannelPWM(_puppetChannel, _puppetCurrentPosition);
}

4. Write EEPROM Values in Setter Functions:
   • Modify the setter functions (setDoor1Min(), setDoor1Max(), etc.) to write the new min/max values to EEPROM.

void ServoControl::setDoor1Min(int min) {
    _door1Min = min;
    EEPROM.write(EEPROM_DOOR1_MIN_ADDR, (min >> 0) & 0xFF);
    EEPROM.write(EEPROM_DOOR1_MIN_ADDR + 1, (min >> 8) & 0xFF);
    EEPROM.write(EEPROM_DOOR1_MIN_ADDR + 2, (min >> 16) & 0xFF);
    EEPROM.write(EEPROM_DOOR1_MIN_ADDR + 3, (min >> 24) & 0xFF);
    EEPROM.commit();
}

5. Add EEPROM Clear Function (Optional):
   • Add a serial menu command to clear the EEPROM values, allowing users to reset the min/max values to their defaults.

Important Considerations:

• EEPROM Endurance:
  • EEPROM has a limited number of write cycles. Be mindful of this when frequently updating the min/max values.
• Error Handling:
  • Consider adding error handling to check if the EEPROM read/write operations were successful.
• Data Types:
  • Make sure that the data types that are being saved, and read from the EEPROM are handled correctly. In the example code I have shown how to handle an int.

By implementing these steps, we'll add robust EEPROM storage for our servo min/max values.

Absolutely! Beyond just setting min/max values and basic movement, there are several other configuration utilities we can add for the servos, enhancing their flexibility and precision:

1. Servo Speed Control:

• Functionality: Allow users to adjust the speed at which servos move between positions.
• Implementation:
  • Add a setServoSpeed(int speed) function to ServoControl.cpp.
  • Modify the servo movement logic to introduce delays or gradual position changes based on the speed setting.
  • Add a serial menu command to set the speed.
• Benefits: Smoother movements, reduced stress on servos and mechanisms, and the ability to create different animation effects.

2. Servo Acceleration/Deceleration:

• Functionality: Implement gradual acceleration and deceleration of servo movements.
• Implementation:
  • Add functions to ServoControl.cpp to calculate and apply acceleration/deceleration profiles.
  • Modify the servo movement logic to use these profiles.
  • Add serial menu commands to configure acceleration/deceleration.
• Benefits: More realistic and fluid movements, reduced wear and tear on servos.

3. Servo Offset/Trim:

• Functionality: Allow users to apply small offsets to servo positions to compensate for mechanical inaccuracies or variations between servos.
• Implementation:
  • Add offset variables to ServoControl.cpp for each servo.
  • Modify the setServoPulse() function to apply the offsets.
  • Add serial menu commands to set the offsets.
• Benefits: Fine-tuning servo positions, improved accuracy and alignment.

4. Servo Reverse Direction:

• Functionality: Allow users to reverse the direction of servo rotation.
• Implementation:
  • Add a boolean variable to ServoControl.cpp to indicate whether the servo direction is reversed.
  • Modify the setServoPulse() function to reverse the position mapping if the direction is reversed.
  • Add a serial menu command to toggle the direction.
• Benefits: Adapting to different servo mounting orientations or mechanical designs.

5. Servo Position Presets:

• Functionality: Allow users to save and recall predefined servo positions.
• Implementation:
  • Add an array or map to ServoControl.cpp to store position presets.
  • Add serial menu commands to save and recall presets.
  • Add EEPROM storage of presets.
• Benefits: Quick access to frequently used servo positions, simplified animation sequences.

6. Servo Homing:

• Functionality: Add a homing function that returns the servos to a known starting position.
• Implementation:
  • Add a function to ServoControl.cpp that moves all servos to a designated home position.
  • Add a serial menu command to trigger the homing function.
• Benefits: Provides a reliable starting point for animations or sequences, ensures consistent servo behavior.

7. Servo Soft Stops:

• Functionality: Add the abilty to set soft stops, this is where the servo will not travel past a certain point. This is different from min/max, as min/max is the pulse width of the servo, soft stops are the degrees of travel.
• Implementation:
  • Add variables to ServoControl.cpp that store the soft stop positions.
  • Add logic to the movement functions to prevent servos from moving past the soft stop positions.
  • Add serial menu commands to set the soft stop positions.
• Benefits: Prevents damage to the servo or connected mechanisms.

These utilities will give you much more control over your servos and allow you to create more sophisticated and reliable animations.

You're right, adding speed calibration to our servo configuration and saving it to EEPROM is a fantastic idea! It will allow for fine-tuning the servo movements and ensure consistency across power cycles.

Here's a breakdown of how we can implement speed calibration and EEPROM storage:

1. Add Speed Variable and Setter/Getter in ServoControl.h:

// ... (other ServoControl.h code) ...
    void setServoSpeed(int speed);
    int getServoSpeed() const { return _servoSpeed; }
// ... (other ServoControl.h code) ...

private:
    // ... (other private members) ...
    int _servoSpeed;
};

2. Implement Setter in ServoControl.cpp:

#include "ServoControl.h"
#include <EEPROM.h>

// ... (other ServoControl.cpp code) ...

void ServoControl::setServoSpeed(int speed) {
    _servoSpeed = speed;
    EEPROM.write(EEPROM_SERVO_SPEED_ADDR, speed);
    EEPROM.commit();
}

// ... (other ServoControl.cpp code) ...

3. Define EEPROM Address for Speed in main.cpp or a config header:

#define EEPROM_SERVO_SPEED_ADDR 24 // Choose an unused EEPROM address

4. Read Speed from EEPROM in Constructor in ServoControl.cpp:

ServoControl::ServoControl(uint8_t address, uint8_t door1Channel, uint8_t door2Channel, uint8_t puppetChannel)
    : _pwm(address), _door1Channel(door1Channel), _door2Channel(door2Channel), _puppetChannel(puppetChannel),
      _animationStartTime(0), _animationStep(0), _animating(false),
      _door1TargetPosition(OPENEDPOS), _door2TargetPosition(CLOSEDPOST), _puppetTargetPosition(PUPPETPOS),
      _door1CurrentPosition(pwmForAngle(OPENEDPOS)), _door2CurrentPosition(pwmForAngle(CLOSEDPOST)), _puppetCurrentPosition(pwmForAngle(PUPPETPOS)),
      _doorMoving(false), _puppetMoving(false),
      _door1Min(1000), _door1Max(2000), _door2Min(1000), _door2Max(2000), _puppetMin(1000), _puppetMax(2000) {
    EEPROM.begin(32); // Initialize EEPROM with enough space
    _door1Min = EEPROM.read(EEPROM_DOOR1_MIN_ADDR) | (EEPROM.read(EEPROM_DOOR1_MIN_ADDR + 1) << 8) | (EEPROM.read(EEPROM_DOOR1_MIN_ADDR + 2) << 16) | (EEPROM.read(EEPROM_DOOR1_MIN_ADDR + 3) << 24);
    _door1Max = EEPROM.read(EEPROM_DOOR1_MAX_ADDR) | (EEPROM.read(EEPROM_DOOR1_MAX_ADDR + 1) << 8) | (EEPROM.read(EEPROM_DOOR1_MAX_ADDR + 2) << 16) | (EEPROM.read(EEPROM_DOOR1_MAX_ADDR + 3) << 24);
    _door2Min = EEPROM.read(EEPROM_DOOR2_MIN_ADDR) | (EEPROM.read(EEPROM_DOOR2_MIN_ADDR + 1) << 8) | (EEPROM.read(EEPROM_DOOR2_MIN_ADDR + 2) << 16) | (EEPROM.read(EEPROM_DOOR2_MIN_ADDR + 3) << 24);
    _door2Max = EEPROM.read(EEPROM_DOOR2_MAX_ADDR) | (EEPROM.read(EEPROM_DOOR2_MAX_ADDR + 1) << 8) | (EEPROM.read(EEPROM_DOOR2_MAX_ADDR + 2) << 16) | (EEPROM.read(EEPROM_DOOR2_MAX_ADDR + 3) << 24);
    _puppetMin = EEPROM.read(EEPROM_PUPPET_MIN_ADDR) | (EEPROM.read(EEPROM_PUPPET_MIN_ADDR + 1) << 8) | (EEPROM.read(EEPROM_PUPPET_MIN_ADDR + 2) << 16) | (EEPROM.read(EEPROM_PUPPET_MIN_ADDR + 3) << 24);
    _puppetMax = EEPROM.read(EEPROM_PUPPET_MAX_ADDR) | (EEPROM.read(EEPROM_PUPPET_MAX_ADDR + 1) << 8) | (EEPROM.read(EEPROM_PUPPET_MAX_ADDR + 2) << 16) | (EEPROM.read(EEPROM_PUPPET_MAX_ADDR + 3) << 24);

    _servoSpeed = EEPROM.read(EEPROM_SERVO_SPEED_ADDR);
    if (_servoSpeed == 255) {
        _servoSpeed = 1; // Default speed if EEPROM is empty
    }

    _pwm.init();
    _pwm.resetDevices();
    _pwm.setPWMFreqServo();
    _pwm.setChannelPWM(_door1Channel, _door1CurrentPosition);
    _pwm.setChannelPWM(_door2Channel, _door2CurrentPosition);
    _pwm.setChannelPWM(_puppetChannel, _puppetCurrentPosition);
}

5. Add Serial Menu Command in SerialMenu.cpp:

// Add to processServoConfigCommand()
    case 's': setServoSpeed(); break;

// Add new function
void SerialMenu::setServoSpeed() {
    Serial.println("Enter Servo Speed (1-10):");
    while (Serial.available() == 0);
    int speed = Serial.parseInt();
    _servoControl.setServoSpeed(speed);
    Serial.print("Servo Speed set to: ");
    Serial.println(speed);
}

6. Add to the help menu: Add the new commands to the help menu.

7. Modify Servo Movement Logic:

• Modify the update() function in ServoControl.cpp to use the _servoSpeed variable to control the speed of servo movements.
• You can introduce delays or adjust the step size based on the speed setting.

Example of Modifying Servo Movement Logic:

void ServoControl::update() {
    // ... (other update logic) ...

    if (_doorMoving) {
        if (_door1CurrentPosition < _door1TargetPosition) {
            _door1CurrentPosition += _servoSpeed;
            if (_door1CurrentPosition > _door1TargetPosition) {
                _door1CurrentPosition = _door1TargetPosition;
                _doorMoving = false;
            }
        } else if (_door1CurrentPosition > _door1TargetPosition) {
            _door1CurrentPosition -= _servoSpeed;
            if (_door1CurrentPosition < _door1TargetPosition) {
                _door1CurrentPosition = _door1TargetPosition;
                _doorMoving = false;
            }
        }
        _pwm.setChannelPWM(_door1Channel, _door1CurrentPosition);
    }
    // ... (other servo update logic) ...
}

Important Notes:

• EEPROM Address:
  • Choose an unused EEPROM address for the speed setting.
• Speed Range:
  • Define a suitable range for the speed setting (e.g., 1-10).
• Movement Logic:
  • Adjust the servo movement logic to implement the desired speed control behavior.

By adding speed calibration and EEPROM storage, you'll provide a valuable configuration option for your servos.

Certainly! Adding TODO comments in your main.cpp file is a great way to keep track of future enhancements and remind yourself of upcoming tasks.

Here's how you can add those TODO comments:

Updated main.cpp (Relevant Part):

#include <Arduino.h>
#include "PresenceSensor.h"
#include "ServoControl.h"
#include "SerialMenu.h"
#include "LightingEffects.h"
#include <Wire.h> // Include Wire library
#include <EEPROM.h>

// I2C Pin Definitions
#define I2C_SDA 21
#define I2C_SCL 22

// Define your hardware pins and settings here
const uint8_t PCA9685_ADDRESS = 0x40; // Example: PCA9685 I2C address
const uint8_t DOOR1_CHANNEL = 0;
const uint8_t DOOR2_CHANNEL = 1;
const uint8_t PUPPET_CHANNEL = 2;

// EEPROM addresses
#define EEPROM_DOOR1_MIN_ADDR 0
#define EEPROM_DOOR1_MAX_ADDR 4
#define EEPROM_DOOR2_MIN_ADDR 8
#define EEPROM_DOOR2_MAX_ADDR 12
#define EEPROM_PUPPET_MIN_ADDR 16
#define EEPROM_PUPPET_MAX_ADDR 20
#define EEPROM_SERVO_SPEED_ADDR 24

// Define your hardware pins and settings here

// Create instances of your classes
PresenceSensor presenceSensor;
ServoControl servoControl(PCA9685_ADDRESS, DOOR1_CHANNEL, DOOR2_CHANNEL, PUPPET_CHANNEL);
LightingEffects lightingEffects;
SerialMenu serialMenu(presenceSensor, servoControl, lightingEffects);

void setup() {
  Serial.begin(115200); // Initialize serial communication
  Serial.println("Halloween Bug Puppet Initializing...");

  Wire.begin(I2C_SDA, I2C_SCL); // Initialize Wire library with I2C pins

  // Any other initialization you might need can go here
  lightingEffects.clear(); // clear any left over lights.
}

void loop() {
    presenceSensor.update();
    servoControl.update();
    serialMenu.update();

    // TODO: Add TFT Display functionality.
    // TODO: Add Smoker functionality.
    // TODO: Add Sound functionality.
}

Explanation:

• TODO Comments:
  • The TODO comments are added within the loop() function, as these functionalities are likely to be integrated into the main loop of the program.
  • They serve as reminders for future development.

Benefits of Using TODO Comments:

• Task Tracking:
  • They help you keep track of tasks that need to be completed.
• Code Organization:
  • They improve code organization and make it easier to see the big picture.
• Collaboration:
  • If you're working with others, TODO comments can help communicate upcoming tasks.
• IDE Integration:
  • Many IDEs will index TODO comments and make them easy to find.

By adding these TODO comments, you're creating a roadmap for future enhancements to your Halloween bug puppet project.

Excellent idea! Using a config.h file is a best practice for managing user-configurable settings. It keeps your main code cleaner and makes it easier for users to customize the project.

Here's how we can implement a config.h file:

1. Create config.h File:

Create a new file named config.h in the same directory as your main.cpp.

2. Add Configuration Variables to config.h:

Add all your user-configurable settings to config.h. For example:

#ifndef CONFIG_H
#define CONFIG_H

// I2C Pin Definitions
#define I2C_SDA 21
#define I2C_SCL 22

// PCA9685 Settings
const uint8_t PCA9685_ADDRESS = 0x40;
const uint8_t DOOR1_CHANNEL = 0;
const uint8_t DOOR2_CHANNEL = 1;
const uint8_t PUPPET_CHANNEL = 2;

// EEPROM Addresses
#define EEPROM_DOOR1_MIN_ADDR 0
#define EEPROM_DOOR1_MAX_ADDR 4
#define EEPROM_DOOR2_MIN_ADDR 8
#define EEPROM_DOOR2_MAX_ADDR 12
#define EEPROM_PUPPET_MIN_ADDR 16
#define EEPROM_PUPPET_MAX_ADDR 20
#define EEPROM_SERVO_SPEED_ADDR 24

// Servo Default Min/Max
#define DOOR1_DEFAULT_MIN 1000
#define DOOR1_DEFAULT_MAX 2000
#define DOOR2_DEFAULT_MIN 1000
#define DOOR2_DEFAULT_MAX 2000
#define PUPPET_DEFAULT_MIN 1000
#define PUPPET_DEFAULT_MAX 2000

// Servo Default Angle Positions
#define OPENEDPOS 0
#define CLOSEDPOST 180
#define PUPPETPOS 90

#endif // CONFIG_H

3. Include config.h in main.cpp and ServoControl.cpp:

Add #include "config.h" at the beginning of main.cpp and ServoControl.cpp.

Updated main.cpp (Relevant Part):

#include <Arduino.h>
#include "config.h" // Include config.h
#include "PresenceSensor.h"
#include "ServoControl.h"
#include "SerialMenu.h"
#include "LightingEffects.h"
#include <Wire.h>
#include <EEPROM.h>

// ... (rest of main.cpp code) ...

Updated ServoControl.cpp (Relevant Part):

#include "ServoControl.h"
#include "config.h" // Include config.h
#include <EEPROM.h>

// ... (rest of ServoControl.cpp code) ...

4. Update main.cpp and ServoControl.cpp to Use config.h Variables:

Replace the hardcoded values in main.cpp and ServoControl.cpp with the variables from config.h.

Example Update in ServoControl.cpp (Constructor):

ServoControl::ServoControl(uint8_t address, uint8_t door1Channel, uint8_t door2Channel, uint8_t puppetChannel)
    : _pwm(address), _door1Channel(door1Channel), _door2Channel(door2Channel), _puppetChannel(puppetChannel),
      _animationStartTime(0), _animationStep(0), _animating(false),
      _door1TargetPosition(OPENEDPOS), _door2TargetPosition(CLOSEDPOST), _puppetTargetPosition(PUPPETPOS),
      _door1CurrentPosition(pwmForAngle(OPENEDPOS)), _door2CurrentPosition(pwmForAngle(CLOSEDPOST)), _puppetCurrentPosition(pwmForAngle(PUPPETPOS)),
      _doorMoving(false), _puppetMoving(false),
      _door1Min(DOOR1_DEFAULT_MIN), _door1Max(DOOR1_DEFAULT_MAX),
      _door2Min(DOOR2_DEFAULT_MIN), _door2Max(DOOR2_DEFAULT_MAX),
      _puppetMin(PUPPET_DEFAULT_MIN), _puppetMax(PUPPET_DEFAULT_MAX) {
    EEPROM.begin(32);
    _door1Min = EEPROM.read(EEPROM_DOOR1_MIN_ADDR) | (EEPROM.read(EEPROM_DOOR1_MIN_ADDR + 1) << 8) | (EEPROM.read(EEPROM_DOOR1_MIN_ADDR + 2) << 16) | (EEPROM.read(EEPROM_DOOR1_MIN_ADDR + 3) << 24);
    _door1Max = EEPROM.read(EEPROM_DOOR1_MAX_ADDR) | (EEPROM.read(EEPROM_DOOR1_MAX_ADDR + 1) << 8) | (EEPROM.read(EEPROM_DOOR1_MAX_ADDR + 2) << 16) | (EEPROM.read(EEPROM_DOOR1_MAX_ADDR + 3) << 24);
    _door2Min = EEPROM.read(EEPROM_DOOR2_MIN_ADDR) | (EEPROM.read(EEPROM_DOOR2_MIN_ADDR + 1) << 8) | (EEPROM.read(EEPROM_DOOR2_MIN_ADDR + 2) << 16) | (EEPROM.read(EEPROM_DOOR2_MIN_ADDR + 3) << 24);
    _door2Max = EEPROM.read(EEPROM_DOOR2_MAX_ADDR) | (EEPROM.read(EEPROM_DOOR2_MAX_ADDR + 1) << 8) | (EEPROM.read(EEPROM_DOOR2_MAX_ADDR + 2) << 16) | (EEPROM.read(EEPROM_DOOR2_MAX_ADDR + 3) << 24);
    _puppetMin = EEPROM.read(EEPROM_PUPPET_MIN_ADDR) | (EEPROM.read(EEPROM_PUPPET_MIN_ADDR + 1) << 8) | (EEPROM.read(EEPROM_PUPPET_MIN_ADDR + 2) << 16) | (EEPROM.read(EEPROM_PUPPET_MIN_ADDR + 3) << 24);
    _puppetMax = EEPROM.read(EEPROM_PUPPET_MAX_ADDR) | (EEPROM.read(EEPROM_PUPPET_MAX_ADDR + 1) << 8) | (EEPROM.read(EEPROM_PUPPET_MAX_ADDR + 2) << 16) | (EEPROM.read(EEPROM_PUPPET_MAX_ADDR + 3) << 24);

    _servoSpeed = EEPROM.read(EEPROM_SERVO_SPEED_ADDR);
    if (_servoSpeed == 255) {
        _servoSpeed = 1; // Default speed if EEPROM is empty
    }

    _pwm.init();
    _pwm.resetDevices();
    _pwm.setPWMFreqServo();
    _pwm.setChannelPWM(_door1Channel, _door1CurrentPosition);
    _pwm.setChannelPWM(_door2Channel, _door2CurrentPosition);
    _pwm.setChannelPWM(_puppetChannel, _puppetCurrentPosition);
}

Benefits of config.h:

• Centralized Configuration: All user-configurable settings are in one place.
• Readability: The code becomes more readable and maintainable.
• Easy Customization: Users can easily modify settings without touching the main code.
• Version Control: It's easier to manage configuration changes in version control.

By implementing a config.h file, you're making your project more user-friendly and maintainable.

That's an interesting and educational side project! Modifying an existing servo library to integrate your configuration tool is definitely feasible. Here's a breakdown of the process and considerations:

Ease of Modification:

• Depends on Library Structure:
  • The complexity of the modification depends heavily on the library's structure and design.
  • Well-organized libraries with clear separation of concerns will be easier to modify.
  • The pca9685 library is relativly simple, and should be easy to modify.
• Your Skill Level:
  • Your familiarity with C++ and embedded programming will also play a role.
• Library Licensing:
  • Always check the library's license to ensure you're allowed to modify and redistribute it. Most open-source libraries (like those found in the Arduino ecosystem) use permissive licenses.

Steps to Modify the Library:

1. Clone or Copy the Library:

   • Create a local copy of the servo library's source code.
   • This could involve cloning a Git repository or copying the library files.

2. Understand the Library's Structure:

   • Carefully examine the library's header files (.h) and source files (.cpp).
   • Identify the key classes, functions, and variables related to servo control.

3. Add Configuration Variables:

   • Add member variables to the servo control class to store your configuration settings (min/max values, speed, offsets, etc.).

4. Implement Configuration Functions:

   • Add public functions to set and get the configuration variables.
   • For example:
     • setServoMin(int channel, int min)
     • setServoMax(int channel, int max)
     • setServoSpeed(int channel, int speed)

5. Modify Servo Movement Logic:

   • Modify the functions that control servo movement to use your configuration variables.
   • For example, clamp pulse widths within the min/max range, apply speed adjustments, and add offsets.

6. Integrate EEPROM Storage:

   • Add code to read and write configuration values from EEPROM.
   • Use the EEPROM library to store and retrieve data.

7. Create a Configuration Interface (Optional):

   • If you want to provide a user-friendly configuration interface, you could:
     • Add serial communication functions to the library.
     • Create a separate configuration tool that communicates with the library.

8. Test Thoroughly:

   • Thoroughly test your modified library to ensure that it functions correctly and that your configuration settings are applied as expected.

9. Document Your Changes:

   • Add comments to your code to explain your modifications.
   • Update the library's documentation to reflect the new configuration options.

Considerations:

• Backward Compatibility:
  • If you plan to share your modified library, consider maintaining backward compatibility with the original library.
• Library Size:
  • Be mindful of the library's size, especially if you're working on a resource-constrained microcontroller.
• Performance:
  • Ensure that your modifications don't significantly impact the library's performance.

Benefits of This Side Project:

• Deepened Understanding:
  • You'll gain a deeper understanding of servo control, library design, and embedded programming.
• Customization:
  • You'll create a customized servo library that perfectly suits your needs.
• Learning Experience:
  • It's a valuable learning experience that will enhance your programming skills.

By taking on this side project, you'll not only create a useful tool but also significantly expand your knowledge and abilities.